2010

Table Of Contents
Hide the Tool Settings window by clicking the right-pointing arrow
that is located in the upper left corner of the Tool Settings window.
The ikSCsolver setting selects the IK Single Chain Solver. This solver
ensures that the joints in the skeleton will lie along a single plane. This
solver is well suited for the mechanical arm, because the arm doesnt
need to twist, unlike a real arm.
3 Working in the side view, starting from the base of the mechanical arm,
do the following:
Click on the skeleton joint at the base of the mechanical arm.
Click on the skeleton joint at the tip of the mechanical arm. (The IK
Tool is designed to attach to the joints closest to your selection point.)
In the side view, the IK handle is drawn as a line from the start and end
joints of the IK chain.
4 In the Hypergraph menu, select View > Frame All.
In the Hypergraph, two new nodes appear in the hierarchy that represent
the IK chain: an IK Handle node and an end effector node.
Applying IK to a skeleton hierarchy | 289